WO2017077755A1

WO2017077755A1 - Support arm structure

Info

Publication number: WO2017077755A1
Application number: PCT/JP2016/073507
Authority: WO
Inventors: 一生本郷; 長阪　憲一郎
Original assignee: ソニー株式会社
Priority date: 2015-11-04
Filing date: 2016-08-09
Publication date: 2017-05-11
Also published as: JPWO2017077755A1; JP6791160B2; US20190053863A1; US11058502B2

Abstract

[Problem] To reduce the output of a motor for a support arm device. [Solution] A support arm device comprises: a first drive section affixed to a base and rotating a first drive shaft about the axis thereof; a second drive section affixed to the base and rotating a second drive shaft about the axis thereof; and an arm including at least one parallel link and supporting a predetermined jig. The first drive section and the second drive section are driven to change the attitude of the arm, thereby causing the predetermined jig to perform predetermined rotational movement.

Description

Support arm device

The present disclosure relates to a support arm device.

In recent years, industrial robots and surgical robots using parallel links are known. A robot using a parallel link is characterized in that it can be configured relatively lightly on the hand side of the arm portion configured by the parallel link and can be configured relatively inexpensively. Another feature of a robot using a parallel link is that since the motor can be arranged on the base side instead of the hand side of the arm, the weight of the motor itself is less likely to be a heavy load on the output of the motor.

For example, in the medical field, a device capable of pivoting around an RCM (Remote Center of Motion) is used. Such a device is configured to include an arm portion including at least one parallel link, and enables a supported endoscope or end effector such as forceps to pivot about the RCM. Therefore, such an apparatus can be used as a surgical robot that can move an endoscope and an end effector so as to always pass through an insertion hole formed by incising a body surface of a patient during surgery (for example, , See Patent Document 1).

International Publication No. 2014/108545

The apparatus disclosed in Patent Document 1 performs a pivoting motion centering on the RCM by driving three motors to deform the parallelogram structure or rhombus structure of the arm portion. However, one of the three motors of the device disclosed in Patent Document 1 rotates not only the arm part but also a part including other two motors and relatively heavy components such as a counterweight. It is configured to move.

Specifically, one of the three motors is fixed to the base portion, but the other two motors are not fixed to the base portion and are rotated by the motors fixed to the base portion. It is arranged on the movable part. In addition, a counterweight for maintaining the arm portion in a self-supporting state is provided at a movable portion that is rotated by a motor fixed to the base portion. Therefore, the motor fixed to the base portion needs an output for operating a portion having a relatively large weight.

Therefore, the present disclosure proposes a new and improved support arm device capable of reducing the output of the motor.

According to the present disclosure, a first drive unit that is fixed to the base unit and rotates the first drive shaft, a second drive unit that is fixed to the base unit and rotates the second drive shaft, An arm portion including at least one parallel link and supporting a predetermined jig, and by driving the first driving portion and the second driving portion, the posture of the arm portion is changed, and the predetermined jig is A support arm device is provided for rotational movement.

As described above, according to the present disclosure, the output of the motor can be reduced. Note that the above effects are not necessarily limited, and any of the effects shown in the present specification, or other effects that can be grasped from the present specification, together with the above effects or instead of the above effects. May be played.

It is a perspective view showing an example of 1 composition of a support arm device concerning a 1st embodiment of this indication. It is a perspective view which shows the support arm apparatus concerning the embodiment. It is a perspective view which shows the structure of the fixing | fixed part vicinity of a support arm apparatus. It is a figure for demonstrating the parallelogram structure of an arm part. It is a figure for demonstrating the parallelogram structure of an arm part. It is a figure for demonstrating the rhombus structure of an arm part. It is a figure for demonstrating a guide structure. It is a figure for demonstrating the structure of the orthogonal joint part of a base part. It is a figure which shows the other structure of the orthogonal joint part of a base part. It is a figure which shows the basic attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a block diagram for demonstrating the control part of a support arm apparatus. It is a figure for demonstrating the control method of a support arm apparatus. It is a figure for demonstrating the control method of a support arm apparatus. It is a figure for demonstrating the control method of a support arm apparatus. It is a perspective view which shows the support arm apparatus concerning a 1st modification. It is a perspective view which shows the support arm apparatus concerning a 2nd modification. It is explanatory drawing which shows the support arm apparatus concerning a 3rd modification. It is a perspective view showing an example of 1 composition of a support arm device concerning a 2nd embodiment of this indication. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a perspective view showing an example of 1 composition of a support arm device concerning a 3rd embodiment of this indication. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a perspective view showing an example of 1 composition of a support arm device concerning a 4th embodiment of this indication. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part. It is a figure for demonstrating the change of the attitude | position of an arm part.

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

The description will be made in the following order.
1. 1. First embodiment 1-1. Overall configuration of support arm device 1-2. Specific configuration of support arm device 1-3. Posture of arm part 1-4. Control device 1-5. Modification 1-6. Summary 2. Second embodiment 2-1. Configuration of support arm device 2-2. Posture of arm part 2-3. Summary 3. Third embodiment 3-1. Configuration of support arm device 3-2. Arm position 3-3. Summary 4. Fourth embodiment 4-1. Configuration of support arm device 4-2. Posture of arm 4-3. Summary

<< 1. First embodiment >>
<1-1. Overall Configuration of Support Arm Device>
With reference to FIG. 1, the whole structure of the support arm apparatus 1 concerning 1st Embodiment of this indication is demonstrated. FIG. 1 is a perspective view showing a configuration example of a support arm device 1 according to the present embodiment.

In this specification, the direction of the axis of the first drive shaft 31a or the third drive shaft 31b is referred to as the left-right direction, and the direction of the axis of the second drive shaft 31c is referred to as the front-rear direction. A direction orthogonal to the shaft 31a or the third drive shaft 31b and the second drive shaft 31c is also referred to as a vertical direction.

The support arm device 1 according to the present embodiment is an example of a medical support arm device in which an endoscope 210 as a medical instrument is supported by a support unit 50. The support arm device 1 according to the present embodiment can constitute a slave-side device in a so-called master / slave type surgical system. Therefore, the support arm device 1 and the endoscope 210 may be configured to be remotely operated by an operator.

The support arm device 1 includes an arm unit 10 including at least one parallel link. The arm unit 10 is operated by the first motor 30a, the second motor 30c, and the third motor 30b, so that a pivot motion centered on a predetermined RCM (hereinafter, a pivot motion centered on the RCM, Simply referred to as “pivot motion”) and linear motion along a straight line passing through the RCM. A specific configuration of the support arm device 1 will be described later.

The endoscope 210 is supported by the support portion 50 of the support arm device 1. The endoscope 210 is a rigid endoscope having a long insertion portion 212. For example, the distal end portion of the insertion portion 212 is inserted into the body during a laparotomy. The insertion portion 212 of the endoscope 210 performs a pivoting motion under the control of the support arm device 1. In other words, even if the arm unit 10 is operated in various ways, the insertion unit 212 of the endoscope 210 has the insertion unit 212 or the axis of the insertion unit 212 always passes through the RCM in the front-rear and left-right directions. Make a rotational movement to. Further, the insertion portion 212 of the endoscope 210 performs a rectilinear movement along a straight line passing through the RCM together with the pivot movement under the control of the support arm device 1. The RCM is a virtual one representing the turning center, and when the support arm device 1 is used for medical purposes, the RCM corresponds to an insertion port formed by, for example, incising the body surface of the patient. The insertion unit 212 of the endoscope 210 performs a pivot motion and a straight motion with the RCM as a fixed point, and an imaging position or an imaging angle is changed.

The medical instrument supported by the support arm device 1 is not limited to the endoscope 210, and may be a surgical instrument such as an end effector that grips a patient's biological tissue or a medical device. Such a surgical instrument may have a long insertion portion connected to a portion supported by the support portion 50 of the support arm device 1, and may include a gripping portion at the distal end of the insertion portion. Even in such a surgical instrument, the insertion portion controls the support arm device 1 to perform a pivoting motion and a rectilinear motion. Thereby, when performing an operation, the posture of the support arm device 1 is controlled so that the end effector can take a desired position and posture with respect to the biological tissue of the patient.

The support arm device 1 may include a cover 201. The cover 201 is a housing that houses the support arm device 1 therein. When the support arm device 1 is used for medical purposes, the device needs to be kept clean. For this reason, by providing the cover 201, exposure of the internal mechanical structure can be prevented. Further, by providing the cover 201, it is possible to prevent an operator or the like from touching the arm portion 10 accidentally and causing injury.

The cover 201 has an opening 203, and a part of the support arm device 1 is led out from the opening 203. In the example of the support arm device 1 illustrated in FIG. 1, the first link 11 a and the second link 11 b that constitute a part of the arm unit 10 are led out to the outside, and the first link 11 a and the second link are connected to the outside. A support portion 50 is provided at the tip of 11b. For example, when it is assumed that the support arm device 1 is installed and used on the side of the operating table, the first link 11a and the second link 11b may be led out from the opening 203 of the cover 201 by 500 mm. Good. The opening 203 of the cover 201 is formed so as not to limit the range in which the first link 11a and the second link 11b can move when the endoscope 210 is pivoted and moved straight. Note that the outer shape of the cover 201 is not particularly limited. In the support arm device 1 according to the present embodiment, the cover 201 may be omitted.

<1-2. Specific Configuration of Support Arm Device>
Next, with reference to FIG.2 and FIG.3, the structure of the support arm apparatus 1 concerning this embodiment is demonstrated concretely. FIG. 2 shows the support arm device 1 shown in FIG. 1 with the cover 201 omitted. FIG. 3 is a perspective view showing the vicinity of the fixing portion 25 of the support arm device 1. In FIG. 2, a long rod-like surgical instrument (jig) 5 is supported by a support portion 50 instead of the endoscope 210. The surgical instrument 5 corresponds to the insertion part 212 of the endoscope 210 or the insertion part of other surgical instruments.

The support arm device 1 includes a base portion 21, a first motor 30a, a second motor 30c, a third motor 30b, and an arm portion 10 having a support portion 50. The first motor 30a, the second motor 30c, and the third motor 30b are attached to the base portion 21 using, for example, bolts, rivets, or the like.

(1-2-1. Base part)
The base portion 21 includes a fixing portion 25 and leg portions 23 that support and stabilize the fixing portion 25. The leg portion 23 has a U shape in which aggregates are connected, but the form of the leg portion 23 is not particularly limited. Instead of the leg portion 23, a flat plate or a solid pedestal may be used. The fixing portion 25 includes a first plate surface portion 25a and a second plate surface portion 25b that are orthogonal to each other. The first plate surface portion 25a and the second plate surface portion 25b are fixed to two orthogonal sides of the U-shaped leg portion 23, respectively. The form of the fixing portion 25 is not particularly limited. The base portion 21 is a non-moving portion that does not change its position or posture when the first motor 30a, the second motor 30c, and the third motor 30b are driven. Will remain stationary. The base portion 21 may include a caster that can move on the floor surface, for example.

(1-2-2. Drive unit)
The first motor 30a, the second motor 30c, and the third motor 30b are examples of the first drive unit, the second drive unit, and the third drive unit, respectively. The first motor 30a, the second motor 30c, and the third motor 30b can be, for example, electric servo motors, and are each connected to electric wiring (not shown) and driven by energization control by a control device. The first motor 30a rotates the first drive shaft 31a. The second motor 30c rotates the second drive shaft 31c. The third motor 30b rotates the third drive shaft 31b. In the support arm device 1 according to the present embodiment, the output shafts of the first motor 30a, the second motor 30c, and the third motor 30b are respectively the first drive shaft 31a, the second drive shaft 31c, and the third motor 30b. However, the output shaft and the drive shaft of the motor may be different shaft members and may be connected via a gear or the like.

The first drive shaft 31a is rotatably supported by the bearing portion 27a. The second drive shaft 31c is rotatably supported by the bearing portion 27c. The third drive shaft 31b is rotatably supported by the bearing portion 27b. The first drive shaft 31a and the third drive shaft 31b are arranged in parallel at equal intervals. The first drive shaft 31a and the third drive shaft 31b may be arranged on surfaces parallel to each other, but the first drive shaft 31a and the third drive shaft 31b are in an equidistant parallel state. If it exists, the pivot movement centering on the RCM by the control of the first motor 30a, the second motor 30c, and the third motor 30b becomes easy. Further, if the first drive shaft 31a and the third drive shaft 31b are in an equidistant parallel state, a reduction in motor torque transmission efficiency can be prevented. Furthermore, if the first drive shaft 31a and the third drive shaft 31b are in an equidistant parallel state, the design is facilitated and the production efficiency is improved.

Also, the axis of the second drive shaft 31c is orthogonal to the axis of the first drive shaft 31a and the axis of the third drive shaft 31b. In the support arm device 1 according to the present embodiment, the axis of the first drive shaft 31a, the second drive shaft 31c, and the third drive shaft 31b are arranged on a plane parallel to the installation surface on which the base portion 21 is installed. The axis line of the axis line is arranged. On the axis of the second drive shaft 31c, an RCM serving as the center of the pivot movement of the surgical instrument 5 is further arranged. The first drive unit, the second drive unit, and the third drive unit can rotate the first drive shaft 31a, the second drive shaft 31c, and the third drive shaft 31b, respectively. If it is, it is not limited to a motor.

(1-2-3. Arm part)
The arm unit 10 includes at least one parallel link configured by a plurality of links. Here, the “parallel link” refers to a parallelogram structure or a rhombus structure formed by a plurality of links. The arm portion 10 includes a plurality of joint portions 60a to 60n and a first link 11a, a second link 11b, a third link 13, and a fourth link that are rotatably connected to each other by the joint portions 60a to 60n. 15 a, fifth link 15 b, sixth link 15 c, seventh link 17 a, eighth link 17 b, ninth link 17 c, and tenth link 19. Moreover, the arm part 10 has the support part 50 for supporting the surgical instrument 5 in the front-end | tip.

The plurality of links constituting the arm unit 10 can be formed using various materials such as aluminum, stainless steel, and resin material. The constituent material may be selected with emphasis on lightness, or the constituent material may be selected with emphasis on production cost.

The configuration of the support unit 50 is not particularly limited as long as it can support the surgical instrument 5 such as an endoscope or an end effector. For example, the surgical instrument 5 may be able to be fixed using bolts, rivets or the like, or a part of the surgical instrument 5 that is supported by the support part 50 is made into a specific shape corresponding to the support part 50, The surgical instrument 5 may be attachable or detachable. Further, the support unit 50 may include a rotation mechanism that rotates the long surgical tool 5. For example, the portion that supports the surgical instrument 5 may be rotatable by a motor or the like. By providing the support unit 50 with a rotation mechanism, for example, a 3D endoscope or the like can be used as the surgical instrument 5 while being supported.

4 to 6 are explanatory views showing the parallelogram structure and the rhombus structure formed in the arm portion 10. FIG. As shown in FIG. 4, a parallel link is formed by the first link 11 a, the second link 11 b, the third link 13, and the support unit 50. As shown in FIG. 5, a parallel link is formed by the fourth link 15a, the fifth link 15b, the tenth link 19, and the first link 11a. The fifth link 15b and the second link 11b intersect but are not connected. The seventh link 17a, the eighth link 17b, and the tenth link 19 form a parallel link. Furthermore, as shown in FIG. 6, a parallel link is formed by the fourth link 15a, the sixth link 15c, the seventh link 17a, and the ninth link 17c. The sixth link 15c and the eighth link 17b intersect but are not connected. Similarly, the ninth link 17c and the fifth link 15b intersect but are not connected. On the other hand, the third link 13 is connected to the ninth link 17 c via the guide structure 35.

Of these links, the eighth link 17b corresponds to the first drive link, the seventh link 17a corresponds to the second drive link, and the sixth link 15c corresponds to the third drive. Corresponds to a link.

These multiple links exist in a common link configuration plane regardless of the posture of the arm unit 10. That is, a plurality of parallel links formed by a plurality of links exist in a common link configuration plane regardless of the posture of the arm unit 10. Therefore, the support arm device 1 can reduce the width in the left-right direction. Here, the “link configuration plane” is a plane conceptually defined as a plane having a predetermined thickness, and the plane does not change when the arm unit 10 operates in the front-rear direction and the up-down direction. When the unit 10 is operated in the left-right direction, the inclination of the surface can change. In the support arm device 1 according to the present embodiment, the link configuration plane has a thickness corresponding to three links.

FIG. 7 is an explanatory view showing the guide structure 35. The guide structure 35 includes a guide pin 43 and a linear bush 42. The third link 13 includes a guide pin 43 that extends along the extending direction of the third link 13. The guide pin 43 is supported at the position of the joint portion 60d between the second link 11b and the third link 13 by a bearing portion 13a provided on the third link 13 so that the shaft can rotate. Further, the guide pin 43 is inserted into a linear bush 42 that is rotatably fixed to the ninth link 17c, so that the guide pin 43 can move forward and backward in the linear bush 42. The guide pin 43 is directed to the axis of the third drive shaft 31b regardless of the posture of the arm unit 10. That is, the third link 13 is always directed in the direction of the axis of the third drive shaft 31b. Since the support unit 50 and the surgical instrument 5 are parallel to the third link 13, the surgical instrument 5 or the axis of the surgical instrument 5 always passes through the RCM regardless of the posture of the arm unit 10. .

2 and 3, the eighth link (first drive link) 17b is connected to the first drive shaft 31a via the first orthogonal joint portion 40a. The first orthogonal joint portion 40a includes two L-shaped

members

41a and 43a and two joint portions 60l and 60m. One piece of the L-shaped member 41a is connected to the first drive shaft 31a and extends along a direction orthogonal to the axis of the first drive shaft 31a. The other piece of the L-shaped member 41a extends along the direction of the axis of the first drive shaft 31a, and is rotatably connected to the other L-shaped member 43a by the joint portion 60m. The One piece of the other L-shaped member 43a connected to one L-shaped member 41a extends on a surface along the direction of the axis of the first drive shaft 31a. The other piece of the L-shaped member 43a extends along a direction orthogonal to the axis of the first drive shaft 31a, and is rotatably connected to the eighth link 17b by the joint portion 60l. .

The rotation range of the L-shaped member 41a of the first orthogonal joint 40a accompanying the rotation of the first drive shaft 31a is restricted by the

stoppers

28a and 28b. That is, the L-shaped member 41a rotates between a position where it abuts on the stopper 28a and a position where it abuts on the stopper 28b.

In FIG. 8, the rotation axis Ax_m1 of the first drive shaft 31a in the first orthogonal joint portion 40a, the rotation axis Ax_j1 of the joint portion 60m connecting the two L-shaped

members

41a and 43a, and the L-shape The rotation axis Ax_j2 of the joint portion 60l of the member 43a and the eighth link 17b is indicated by a bold line. The three axes Ax_m1, Ax_j1, and Ax_j2 including the first drive shaft 31a and the rotation axes of the two joint portions 60l and 60m are orthogonal to each other and intersect at one point. Therefore, by driving the first motor 30a, the first drive shaft 31a rotates and the eighth link 17b moves the axis Ax_m1 of the first drive shaft 31a regardless of the posture of the arm unit 10. Rotate to the center.

The first orthogonal joint portion 40a is configured by connecting two L-shaped

members

41a and 41b, and as shown in FIG. 9, an L-shaped member 41a and a quadrangular prism-shaped member 44, May be configured. In short, an L-shaped or quadrangular prism-shaped member is a member having two surfaces that are orthogonal to each other, and any member having such two surfaces can be used.

FIG. 5 is an explanatory diagram showing a state in which the inclination of the surgical instrument 5 in the front-rear direction is changed about the RCM by two parallelogram structures. As shown in FIG. 5, the seventh link 17a rotates around the joint portion 60n while maintaining a state parallel to the eighth link 17b as the eighth link 17b rotates. Thereby, the parallel link formed by the seventh link 17a, the eighth link 17b, and the tenth link 19 rotates in the front-rear direction. At this time, the tenth link 19 rotates while maintaining a state parallel to a line connecting the axis of the first drive shaft 31a and the axis of the third drive shaft 31b.

The tenth link 19 is an element that forms a parallel link together with the first link 11a, the fourth link 15a, and the fifth link 15b. The link 11 a rotates while maintaining a state parallel to the tenth link 19. The first link 11 a forms a parallel link together with the support portion 50, the second link 11 b, and the third link 13. Therefore, the 1st link 11a and the 2nd link 11b rotate, always maintaining a state parallel to an installation surface. At this time, since the third link 13 is always directed to the third drive shaft 31b by the guide structure 35, the surgical instrument 5 or the axis of the surgical instrument 5 always passes through the RCM.

Thus, the surgical instrument 5 rotates in the front-rear direction around the RCM by driving the first motor 30a and the third motor 30b and rotating the first link 11a and the second link 11b. It is possible to move. When the surgical instrument 5 rotates only in the front-rear direction, the plurality of parallel links of the arm unit 10 are deformed along the link configuration plane while remaining in the specific link configuration plane.

2 and 3, the sixth link (third drive link) 15c is connected to the third drive shaft 31b via the third orthogonal joint portion 40b. The third orthogonal joint portion 40b includes two L-shaped

members

41b and 43b and two

joint portions

60j and 60k. One piece of the L-shaped member 41b is connected to the third drive shaft 31b and extends along a direction orthogonal to the axis of the third drive shaft 31b. The other piece of the L-shaped member 41b extends along the direction of the axis of the third drive shaft 31b, and is rotatably connected to the other L-shaped member 43b by the joint portion 60k. The

One piece of the other L-shaped member 43b connected to one L-shaped member 41b extends on a surface along the direction of the axis of the third drive shaft 31b. The other piece of the L-shaped member 43b extends along a direction orthogonal to the axis of the third drive shaft 31b, and is rotatably connected to the sixth link 15c by the joint portion 60j. . Three axes composed of the third drive shaft 31b and the rotation axes of the two

joint portions

60j and 60k are orthogonal to each other and intersect at one point. Therefore, similarly to the first orthogonal joint portion 40a, by driving the third motor 30b, the third drive shaft 31b rotates and the sixth link 15c is moved regardless of the posture of the arm portion 10. The third drive shaft 31b rotates around the axis.

When the third motor 30b is driven and the third drive shaft 31b is rotated in the same direction and at the same rotational speed as the first drive shaft 31a, the fourth link 15a, the sixth link 15c, The parallel links formed by the seventh link 17a and the ninth link 17c rotate around the axis of the third drive shaft 31b while maintaining the shape thereof. On the other hand, when the third drive shaft 31b is rotated at a rotational speed different from that of the first drive shaft 31a or in the opposite direction, the fourth link 15a, the sixth link 15c, the seventh link 17a, and The shape of the parallel link formed by the ninth link 17c changes.

FIG. 6 is an explanatory diagram showing a state in which the surgical instrument 5 moves straight up and down so as to pass through the RCM by two rhombus structures. As shown in FIG. 6, the phantom line passing through the rotation axis P2 of the linear bush 42 and parallel to the fourth link 15a passes through the joint portion 60c that connects the first link 11a and the fourth link 15a. When a virtual line parallel to the ninth link 17c is drawn, two rhombus structures having the third link 13 and its extension line as diagonal lines are formed. When the shape of the parallel link formed by the fourth link 15a, the sixth link 15c, the seventh link 17a, and the ninth link 17c changes, the two rhombus structures described above are in the direction of the diagonal line. Extends and contracts. Since the support unit 50 and the surgical instrument 5 are parallel to the third link 13, the surgical instrument 5 can move straight along a straight line passing through the RCM regardless of the posture of the arm unit 10.

At this time, when the two rhombus structures contract in the diagonal direction, the third link 13 holding the guide pin 43 comes into contact with the upper surface of the linear bush 42. Thereby, the maximum shrinkage | contraction width | variety of a rhombus structure is controlled and the maximum moving amount | distance below the surgical instrument 5 is controlled. Further, the maximum extension width of the rhombus structure can be set by the rotation range of the eighth link 17b and the sixth link 15c. Therefore, the length of the guide pin 43 and the contact position between the third link 13 and the linear bush 42 are determined according to the range of the linear movement of the surgical instrument 5.

In this way, by driving the first motor 30a and the third motor 30b, the third link 13 and the two rhombus structures whose extension lines are diagonal lines are expanded and contracted along the direction of the diagonal lines. The surgical instrument 5 can be advanced and retracted so as to pass through the RCM. In addition, when the surgical instrument 5 performs only a rectilinear movement, the plurality of parallel links of the arm unit 10 are deformed along the link configuration plane while remaining in the specific link configuration plane.

2 and 3, the seventh link (second drive link) 17a is connected to the second drive shaft 31c via the second orthogonal joint portion 40c. The 2nd orthogonal joint part 40c is comprised including the L-shaped member 45 and the joint part 60n. One piece of the L-shaped member 45 is connected to the second drive shaft 31c and extends along a direction orthogonal to the axis of the second drive shaft 31c. The other piece of the L-shaped member 45 extends along the direction of the axis of the second drive shaft 31c, and is rotatably connected to the seventh link 17a by the joint portion 60n. The seventh link 17a is not connected to the third drive shaft 31b.

The rotation range of the L-shaped member 45 of the second orthogonal joint portion 40c accompanying the rotation of the second drive shaft 31c is restricted by the

stoppers

28c and 28d. That is, the L-shaped member 45 rotates between a position where it abuts on the stopper 28c and a position where it abuts on the stopper 28d.

In FIG. 8, the rotation axis Ax_m2 of the second drive shaft 31c in the second orthogonal joint portion 40c and the rotation axis Ax_j3 of the joint portion 60n connecting the L-shaped member 45 and the seventh link 17a are bold lines. It is shown in The two axes Ax_m2 and Ax_j3, which are the rotation axes of the second drive shaft 31c and the joint portion 60n, are orthogonal to each other and intersect at one point. Therefore, by driving the second motor 30c, the second drive shaft 31c rotates and the seventh link 17a moves the axis Ax_m2 of the second drive shaft 31c regardless of the posture of the arm unit 10. It pivots left and right around the center.

Returning to FIGS. 2 and 3, the eighth link 17b and the sixth link 15c are connected to each other through the first orthogonal joint portion 40a and the third orthogonal joint portion 40b in which the three rotation axes are orthogonal to each other. It is connected to the drive shaft 31a and the third drive shaft 31b. Therefore, the eighth link 17b and the sixth link 15c are rotatable in the left-right direction, and the entire arm portion 10 is also rotated in the left-right direction as the seventh link 17a is rotated. . The three rotation axes of the first orthogonal joint 40a and the third orthogonal joint 40b intersect on the axis of the second drive shaft 31c. For this reason, the surgical instrument 5 or the axis of the surgical instrument 5 always passes through the RCM regardless of the inclination of the arm portion 10 in the left-right direction.

Thus, by driving the second motor 30c, the entire arm portion 10 is tilted in the left-right direction, and the surgical instrument 5 can be rotated in the left-right direction around the RCM. In addition, when the surgical instrument 5 rotates in the left-right direction, the entire arm unit 10 is tilted in the left-right direction, and a state in which a plurality of parallel links of the arm unit 10 exist in a common link configuration plane is as follows. Maintained.

Here, paying attention to the first drive shaft 31a and the second drive shaft 31c, the first drive shaft 31a and the second drive shaft 31c have a closed link structure with 7 degrees of freedom. Further, immediately after the first drive shaft 31a and the second drive shaft 31c, three orthogonal degrees of freedom and two orthogonal degrees of freedom are configured, respectively. Therefore, mutual rotation is not hindered. The third drive shaft 31b and the second drive shaft 31c have the same relationship.

The first drive shaft 31a, the third drive shaft 31b, and the second drive shaft 31c are wound with their own

weight compensation springs

51a, 51b, 51c, 51d, respectively, and one end of each is provided with a protruding portion 29a, Locked to 29b, 29c, 29d. Thereby, a reaction force is given to the shaft rotation of the first drive shaft 31a, the third drive shaft 31b, and the second drive shaft 31c, and the self-supporting of the arm portion 10 is assisted. Therefore, it is possible to prevent the arm portion 10 from being inclined in a specific direction by the weight of the arm portion 10.

<1-3. Arm position>
So far, the configuration of the support arm device 1 according to the present embodiment has been described. Next, various postures that the arm portion 10 of the support arm device 1 can take will be described. Hereinafter, the arm that is controlled mainly by the first motor 30a and the third motor 30b, the rotational movement in the front-rear direction and the linear movement in the vertical direction of the arm unit 10, and the arm mainly controlled by the second motor 30c. The description will be divided into the horizontal movement of the unit 10.

(1-3-1. Operation in the front-rear direction and the up-down direction)
10 to 16 show examples of the posture of the arm unit 10 that moves in the front-rear direction and the vertical direction, respectively. FIGS. 11 to 16 show the posture (basic posture) of the arm unit 10 in FIG. In order to facilitate the comparison, an imaginary line representing the posture of the arm unit 10 in FIG. 10 is shown.

In FIG. 10, the arm portion 10 is not inclined in the left-right direction, the arm portion 10 and the surgical instrument 5 are supported in a substantially vertical direction, and the distal end portion of the surgical instrument 5 slightly enters the RCM. It has become.

FIG. 11 shows the posture of the arm unit 10 when the first drive shaft 31a and the third drive shaft 31b are rotated in the reverse direction from the state of FIG. In this case, the first drive shaft 31a rotates counterclockwise as shown, the third drive shaft 31b rotates clockwise, and the rotation amount (rotation angle) of the third drive shaft 31b is the first. This is larger than the rotation amount (rotation angle) of the drive shaft 31a. As a result, the angle formed by the seventh link 17a and the sixth link 15c is reduced, and the two rhombus structures whose diagonal lines are the third link 13 and its extension line extend along the diagonal line. As a result, the surgical instrument 5 rises while tilting backward with the RCM as the center, and the distal end portion has come out of the RCM.

FIG. 12 shows the posture of the arm unit 10 when the first drive shaft 31a and the third drive shaft 31b are rotated in the reverse direction from the state of FIG. In this case, the first drive shaft 31a rotates clockwise as shown, the third drive shaft 31b rotates counterclockwise, and the rotation amount of the third drive shaft 31b is the first drive shaft 31a. Is greater than the amount of rotation. As a result, the angle formed by the seventh link 17a and the sixth link 15c is increased, and the two rhombus structures having the third link 13 and its extension line as diagonal lines are contracted along the diagonal line. As a result, the surgical instrument 5 descends while rotating forward about the RCM, and the distal end portion enters further downward from the RCM.

FIG. 13 shows the posture of the arm unit 10 when the first drive shaft 31a and the third drive shaft 31b are rotated in the same direction from the state of FIG. In this case, both the first drive shaft 31a and the third drive shaft 31b rotate counterclockwise as shown in the figure with substantially the same amount of rotation. Thereby, the arm part 10 rotates, with the shape of the two rhombus structure which makes the 3rd link 13 and its extension property a diagonal line is maintained. As a result, the surgical instrument 5 rotates forward about the RCM while maintaining a substantially unchanged height.

FIG. 14 shows the posture of the arm unit 10 when the first drive shaft 31a and the third drive shaft 31b are rotated in the same direction from the state of FIG. FIG. 14 corresponds to the posture of the arm unit 10 when only the third drive shaft 31b is further rotated counterclockwise from the state shown in FIG. In this case, the angle formed by the seventh link 17a and the sixth link 15c is increased, and the two rhombus structures having the third link 13 and its extension line as diagonal lines contract along the diagonal line. As a result, the surgical instrument 5 descends while tilting forward about the RCM, and the distal end portion enters further downward from the RCM.

13 and 14 show a state in which the L-shaped member 41a constituting the first orthogonal joint portion 40a is in contact with the stopper 28b (see FIG. 3). That is, FIG.13 and FIG.14 has shown the state in which the surgical instrument 5 inclined most forward side.

FIG. 15 shows the posture of the arm unit 10 when the first drive shaft 31a and the third drive shaft 31b are rotated in the same direction from the state of FIG. In this case, both the first drive shaft 31a and the third drive shaft 31b rotate clockwise in the figure, and the rotation amount of the third drive shaft 31b is larger than the rotation amount of the first drive shaft 31a. . Thereby, the angle formed by the seventh link 17a and the sixth link 15c is reduced, and the two rhombus structures having the third link 13 and its extension line as diagonal lines extend along the diagonal line. As a result, the surgical instrument 5 rises while tilting backward with the RCM as the center, and the distal end portion has come out of the RCM.

FIG. 16 shows the posture of the arm unit 10 when the first drive shaft 31a and the third drive shaft 31b are rotated in the same direction from the state of FIG. FIG. 16 shows the posture of the arm portion 10 when the first drive shaft 31a is further rotated clockwise as shown in FIG. 15 and the third drive shaft 31b is returned in the counterclockwise direction shown in FIG. Equivalent to. In this case, the angle formed by the seventh link 17a and the sixth link 15c is larger than that in the state of FIG. 15, and the two rhombus structures whose diagonals are the third link 13 and its extension line are Shrink along the diagonal. As a result, the surgical instrument 5 descends while rotating forward about the RCM, and the distal end portion enters the RCM.

Note that FIG. 16 shows a state where the L-shaped member 41a constituting the first orthogonal joint portion 40a is in contact with the stopper 28a (see FIG. 3). That is, FIG. 16 shows a state where the surgical instrument 5 is tilted most rearward.

(1-3-2. Operation in the horizontal direction)
17 to 19 show examples of the posture of the arm unit 10 that moves in the left-right direction. 17 to 19, the driving state of the first motor 30a and the third motor 30b remains constant, and the arm unit 10 is rotated by the shaft rotation of the second driving shaft 31c by the driving of the second motor 30c. The posture has changed.

FIG. 17 shows the arm unit 10 held in a state where the horizontal inclination is zero. In this state, the surgical instrument 5 supported by the support part 50 of the arm part 10 is also in a state in which the horizontal inclination is zero. FIG. 18 shows a state in which the second drive shaft 31c is rotated in the clockwise direction in the drawing, and the arm portion 10 is tilted leftward (rightward in the drawing). Therefore, the surgical instrument 5 supported by the support portion 50 of the arm portion 10 is also tilted leftward. FIG. 19 shows a state in which the second drive shaft 31c is rotated counterclockwise in the drawing, and the arm portion 10 is tilted rightward (leftward in the drawing). Therefore, the surgical instrument 5 supported by the support portion 50 of the arm portion 10 is also tilted to the right.

Even when the second drive shaft 31c is rotated in either the left or right direction, the seventh link 17a is rotatably connected to an L-shaped member 45 fixed to the second drive shaft 31c. As a result, the entire arm unit 10 is tilted to the left and right. At this time, the 1st orthogonal joint part 40a and the 3rd orthogonal joint part 40b which connect the arm part 10, the 1st drive shaft 31a, and the 3rd drive shaft 31b comprise 3 degrees of freedom, and arm part The second orthogonal joint portion 40c that connects 10 and the second drive shaft 31c constitutes two degrees of freedom. Therefore, it is possible to turn the arm portion 10 in the left-right direction without interfering with a plurality of links. Further, since the RCM is located on the axis line of the second drive shaft 31c, the position of the RCM does not shift even when the arm unit 10 is rotated in the left-right direction.

The second motor 30c rotates the arm unit 10 in the left-right direction. The first motor 30a and the third motor 30b cause the arm unit 10 to rotate in the front-rear direction and move back and forth in the up-down direction. Even if it is, it is implement | achieved, without inhibiting a mutual rotation. Therefore, the support arm device 1 according to the present embodiment can perform a linear motion of one degree of freedom along the extending direction of the surgical instrument 5 and a rotational motion of tilting the surgical instrument 5 back and forth and right and left. A parallel mechanism can be realized. Therefore, the surgical instrument 5 can be inserted into the patient from various angles, and the degree of freedom when operating the surgical instrument 5 is improved.

FIG. 18 shows a state in which the L-shaped member 45 constituting the second orthogonal joint portion 40c is in contact with the stopper 28d. That is, FIG. 18 shows a state where the surgical instrument 5 is tilted to the leftmost side. FIG. 19 shows a state where an L-shaped member 45 constituting the second orthogonal joint portion 40c is in contact with the stopper 28c. That is, FIG. 19 shows a state where the surgical instrument 5 is tilted to the rightmost side.

As already described, the range in which the surgical instrument 5 can tilt in the front-rear direction is that the rotation range of the L-shaped member 41a of the first orthogonal joint 40a is restricted by the

stoppers

28a and 28b. Limited. Further, the range in which the surgical instrument 5 can be tilted in the left-right direction is limited by restricting the rotation range of the L-shaped member 45 of the second orthogonal joint portion 40c by the

stoppers

28c, 28d. In the support arm device 1, the surgical instrument 5 may be tilted up to 25 ° in a 360 ° direction with respect to a predetermined rotation axis, for example.

Further, the range in which the surgical instrument 5 can advance and retract along the extending direction of the surgical instrument 5 can be adjusted by the rotation range of the third drive shaft 31b. In the support arm device 1, the surgical instrument 5 may be advanced and retracted along the extending direction of the surgical instrument 5, for example, within a range of 100 to 200 mm at the maximum. During the operation or the like, the surgical instrument 5 is brought into contact with the linear bushing 42 so that the arm part 10 becomes unintentionally impossible and the surgical instrument 5 does not enter the body. The maximum amount of entry is regulated.

As described above, the support arm device 1 according to the present embodiment has a relatively simple structure including a plurality of links and three motors connected to each other, and can reduce manufacturing costs. Moreover, since all the arm parts 10 comprised by several links exist in a link structure plane, the width | variety of the left-right direction of the support arm apparatus 1 concerning this embodiment becomes small, and the occupied volume can be made small. it can.

Further, in the support arm device 1 according to the present embodiment, when the posture of the arm unit 10 is changed, the first motor 30a, the second motor 30c, and the third motor 30b fixed to the base unit 21 move. It has a configuration that does not. Therefore, the weight of the movable part by each motor becomes relatively light, and the output of the motor can be reduced. Thereby, a motor can be reduced in size or power consumption can be reduced.

<1-4. Control device>
(1-4-1. Basic example)
Next, the posture of the support arm device 1 is controlled by driving the first motor 30a, the second motor 30c, and the third motor 30b of the support arm device 1, and the operation supported by the support arm device 1 is performed. The configuration of the control device that controls the position and posture of the tool 5 will be described.

FIG. 20 is a block diagram showing a functional configuration related to the control of the support arm device 1. The support arm device 1 includes an input device 301 and a control device 303. The control device 303 receives an operation input transmitted from the input device 301, calculates control amounts of the first motor 30a, the second motor 30c, and the third motor 30b, and outputs a control command to each motor. To do.

The input device 301 is provided, for example, at a position away from the support arm device 1, and an operator or an assistant inputs an instruction regarding the operation of the arm unit 10. The input device 301 may include, for example, an operation button for instructing forward / backward / left / right movement and an operation button for instructing up / down movement. Alternatively, the input device 301 may be a combination of a device capable of instructing an inclination in a 360 ° direction, such as a joystick, and an input device instructing vertical movement. Furthermore, the input device 301 may be an input device such as a touch panel.

Further, the input device 301 may be integrated with an operation unit for operating the surgical instrument 5 such as an endoscope or an end effector supported by the support unit 50 of the arm unit 10. Since the input device 301 for operating the arm unit 10 and the operation unit of the surgical instrument 5 are integrated, even when there is no assistant, the operator himself operates the surgical instrument 5 while The position and angle of the surgical instrument 5 can be changed. The communication between the input device 301 and the control device 303 can be performed by various known methods such as wired or wireless.

The control device 303 controls the position of the distal end of the surgical instrument 5 by controlling the rotation amount (rotation angle) of each motor, for example. The control device 303 may be a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). Alternatively, the control device 303 may be a control board or a microcomputer on which these processors and storage elements such as a memory are mounted. When the processor which comprises the control apparatus 303 performs various signal processing according to a predetermined | prescribed program, the pivot movement and rectilinear movement of the surgical instrument 5 supported by the arm part 10 are performed. Specifically, the first motor 30a, the second motor 30c, and the third motor 30b are driven by the control of the control device 303.

Hereinafter, the output shaft of the first motor 30a is the first drive shaft 31a, the output shaft of the second motor 30c is the second drive shaft 31c, and the output shaft of the third motor 30b is the third drive shaft. A method for obtaining the distal end position of the surgical instrument 5 in the case of the drive shaft 31b will be described with reference to FIGS.

In the following description, the support arm device 1 is placed so that the plane including the first drive shaft 31a, the second drive shaft 31c, and the third drive shaft 31b is parallel to the horizontal plane. And Further, the link configuration plane in which the arm unit 10 exists is described as an xz plane. That is, the horizontal inclination of the xz plane can be changed by the shaft rotation of the second drive shaft 31c.

(1-4-1. Control by forward kinematics)
First, a method for obtaining the position and angle of the distal end of the surgical instrument 5 from the rotation angles of the first motor 30a, the second motor 30c, and the third motor 30b will be described.

When the direction of the axis of the second drive shaft 31c is 0 °, the rotation angle of the first motor 30a is θa, the rotation angle of the third motor 30b is θb, the length of the seventh link 17a and the The length of the eighth link 17b is La, and the length of the fourth link 15a is Lb. Since each link is configured to form a parallelogram, the angle between the links is as shown in FIG. That is, the angle formed by the seventh link 17a and the eighth link 17b with respect to the axis of the second drive shaft 31c is θa, and the sixth link 15c is formed with respect to the axis of the second drive shaft 31c. The angle and the angle formed by the fourth link 15a and the tenth link 19 is θb.

Further, as shown in FIG. 22, the joint portion 60c connecting the first link 11a, the third link 13, and the fourth link 15a, the L-shaped member 45 of the second orthogonal joint portion 40c, and the first The length of the straight line connecting the joint portion 60n connecting the seven links 17a is L. Since the first link 11a is parallel to the axis of the second drive shaft 31c, and the extending direction of the surgical instrument 5 is parallel to a straight line connecting the joint portion 60c and the joint portion 60n, It can be seen that the length of the straight line connecting the joint portion 60a connecting the first link 11a and the support portion 50 to the RCM is also L. Therefore, it can be seen that the inclination θ of the distal end of the surgical instrument 5 with respect to the z direction can be obtained by obtaining the inclination θ of the straight line having a length L with respect to the z direction.

Here, assuming that the link configuration plane is the xz plane, the origin coordinates (0, 0) are located at the center of the RCM, the front-rear direction is the x-axis, and the vertical direction is the z-axis, the first link 11a and the support unit 50 The coordinates (Px, Pz) of the position P of the joint portion 60a connecting the two can be expressed by the following formula (1).

Further, the length L of the straight line and the slope θ of the straight line with respect to the z direction in the link constituting plane (xz plane) can be expressed by the following formula (2).

Therefore, based on the rotation angles θa and θb of the first motor 30a and the third motor 30b, the straight line distance L from the position P of the joint 60a to the RCM and the angle θ of the surgical instrument 5 with respect to the z direction are obtained. It is done. By inputting in advance the distance from the distal end position of the surgical instrument 5 to the position P of the joint portion 60a in a state where the surgical instrument 5 is actually supported, based on the difference between the distance and the straight line distance L. The distance from the RCM on the xz plane to the distal end of the surgical instrument 5 can be obtained.

Further, the inclination of the link constituting plane (xz plane) where the arm unit 10 exists in the left-right direction is equal to the amount of change in the rotation angle of the second motor 30c. Therefore, the inclination of the surgical instrument 5 in the left-right direction can be obtained from the rotation angle of the second motor 30c.

As described above, the control device 303 can determine the position and angle of the distal end of the surgical instrument 5 based on the rotation angles of the first motor 30a, the second motor 30c, and the third motor 30b. The rotation angle of each motor can be detected using a potentiometer, for example, but other detection methods may be used. The control device 303 may display the obtained position and angle of the distal end of the surgical instrument 5 on a monitor or the like. Thereby, the surgeon can further operate the input device 301 based on the position and angle of the surgical instrument 5 displayed on the monitor or the like to place the surgical instrument 5 at a desired position and angle.

(1-4-1-2. Control by inverse kinematics)
Next, a method of outputting a rotation angle instruction to the first motor 30a, the second motor 30c, and the third motor 30b in order to arrange the distal end of the surgical instrument 5 at a desired position and angle will be described. To do.

As shown in FIG. 21, when the direction of the axis of the second drive shaft 31c is 0 °, the rotation angle of the first motor 30a is θa, the rotation angle of the third motor 30b is θb, The length of the link 17a and the length of the eighth link 17b are La, and the length of the fourth link 15a is Lb. As shown in FIG. 23, the angle formed between the straight line connecting the joint 60c and the joint 60n and the seventh link 17a is φ, and the angle formed between the seventh link 17a and the fourth link 15a. Is ψ.

According to the cosine theorem, the angles φ and θa can be expressed by the following equation (3).

Similarly, according to the cosine theorem, the angles ψ and θb can be expressed by the following equation (4).

Therefore, based on the distance L between the position P of the joint portion 60a and the RCM, and the inclination θ of the surgical instrument 5 with respect to the z direction, which is set according to a desired position and angle where the distal end of the surgical instrument 5 is desired to be disposed, Using the above equations (3) and (4), the command values for the rotation angle of the first motor 30a and the rotation angle of the third motor 30b can be obtained.

Further, the inclination of the link constituting plane (xz plane) where the arm unit 10 exists in the left-right direction is equal to the amount of change in the rotation angle of the second motor 30c. Therefore, the inclination of the desired surgical instrument 5 in the left-right direction becomes a command value for the rotation angle of the second motor 30c.

As described above, the control device 303 sets the target values of the rotation angles of the first motor 30a, the second motor 30c, and the third motor 30b based on the position and angle at which the distal end of the surgical instrument 5 is desired to be disposed. Can be requested. The control device 30 may control the rotation amount of each motor so that the rotation angle of each motor that can be detected using a potentiometer or the like becomes the calculated target value, for example. Thereby, the surgeon can arrange the surgical instrument 5 at a desired position and angle.

In the first example and the second example, the inclination of the distal end of the surgical instrument 5 may be given by another index such as a quaternion or Euler angle. Moreover, how to move the arm unit 10 or the surgical instrument 5 by an input operation to the input device 301 can be set as appropriate. For example, the arm unit 10 or the surgical instrument 5 may move while an input of movement in a predetermined direction is performed by the input device 301, or the amount of movement by a single input operation may be increased. The movement amount of the arm unit 10 or the surgical instrument 5 may be determined in advance according to the number of inputs.

(1-4-2. Application examples)
Next, some application examples of control of each motor by the control device 303 will be described.

(1-4-2-1. First application example)
A first application example of control of each motor by the control device 303 is an example of control that can realize a lock function for holding the posture of the arm unit 10 in a predetermined state. For example, an operator or the like manually operates the arm unit 10 to position the distal end of the surgical instrument 5, and then the rotational torque is applied to the first motor 30a, the second motor 30c, or the third motor 30b by an external force. Is applied, the control device 303 may cause a current to flow to each motor in order to correct the error, and generate a torque against the external force. Thereby, each motor holds the original stop position. Such a lock function can be realized, for example, as a servo lock function when a servo motor is used as the motor. In this case, the rotational torque applied by the external force can be detected based on, for example, a pulse signal flowing through the servo motor.

The lock function may be started when an operator or the like turns on the setting of the lock function, or the first motor 30a, the second motor 30c, and the third motor. The execution may be started when the rotation of 30b stops for several seconds (for example, 3 seconds). In addition, the lock function may be released when the operator or the like turns off the setting of the lock function, or the first motor 30a, the second motor 30c, or the third motor 30b. On the other hand, it may be released when rotational torque is applied by an external force continuously for several seconds (for example, 3 seconds). Furthermore, the lock function may be released when an operation command for the arm unit 10 is input to the input device 301.

(1-4-2-2. Second application example)
A second application example of the control of each motor by the control device 303 is an example of control that can realize an assist function for giving an assisting force to the operation of the arm unit 10 by an operator or the like. For example, when the surgeon manually operates the arm unit 10, the control device 303 applies rotational torque to the first motor 30 a, the second motor 30 c, and the third motor 30 b, respectively. May be detected, current may be supplied to each motor to generate torque in the same direction as the external force. At this time, the ratio of the torque applied to each motor may coincide with the ratio of the rotational torque applied to each motor by the detected external force. Thereby, the arm part 10 or the surgical instrument 5 can be moved to the direction which an operator etc. wants to operate.

<1-5. Modification>
So far, the support arm device 1 according to the present embodiment has been described, but the support arm device can be variously modified. Hereinafter, some modified examples of the support arm device 1 according to the present embodiment will be described.

(1-5-1. First Modification)
FIG. 24 is an explanatory view showing a support arm device 100 according to a first modification. In the support arm device 100, the first drive shaft that is the output shaft of the first motor 30a and the third drive shaft that is the output shaft of the third motor 30b are arranged on the same axis. Yes. That is, in the support arm device 1 according to the above-described embodiment, the first motor 30a and the third motor 30b are arranged on one side (right side) of the link configuration plane, but according to the first modification. In the support arm device 100, the first motor 30a and the third motor 30b are arranged on both sides of the link configuration plane.

The surgical instrument 5 and the support unit 50, the plurality of links, the motor, the guide pin, the linear bush, etc. constituting the support arm device 100 are each the same as the support arm device 1 according to the above embodiment. Good. The support arm device 100 includes a base portion (not shown), and a motor is fixed to the base portion.

The arm portion 110 of the support arm device 100 includes a plurality of joint portions 160a to 160o and a first link 111a, a second link 111b, and a third link 113 that are rotatably connected by the joint portions 160a to 160o. , Fourth link 115a, fifth link 115b, sixth link 115c, seventh link 117a, eighth link 117b, ninth link 117c, tenth link 119, eleventh link 115d and 12 links 117d.

A parallel link is formed by the first link 111a, the second link 111b, the third link 113, and the support portion 50. The fourth link 115a, the fifth link 115b, the first link 111a, and the tenth link 119 form a parallel link. The seventh link 117a, the eighth link 117b, and the tenth link 119 form a parallel link. The fifth link 115b, the sixth link 115c, the eighth link 117b, and the ninth link 117c form a parallel link. The ninth link 117c intersects with the second link 111b but is not connected. The fifth link 115b, the ninth link 117c, the eleventh link 115d, and the twelfth link 117d form a parallel link. The eleventh link 115d, the twelfth link 117d, and the linear bush 42 are connected to each other by a joint portion 160o so as to be rotatable. However, the second link 111b and the third link 113 or the guide pin 43 are the same. Not connected.

These multiple links exist in a common link configuration plane regardless of the posture of the arm unit 110. Therefore, the support arm device 100 can reduce the width in the left-right direction. Of these links, the eighth link 117b corresponds to the first drive link, the seventh link 117a corresponds to the second drive link, and the sixth link 115c corresponds to the third drive link. Corresponds to a link.

The eighth link 117b is connected to a first drive shaft (not shown) that is driven by the first motor 30a via a first orthogonal joint portion 140a that forms three orthogonal degrees of freedom. The seventh link 117a is connected to a second drive shaft 131 that is driven by the second motor 30c via a second orthogonal joint portion 140c that forms two orthogonal degrees of freedom. The sixth link 115c is connected to a third drive shaft (not shown) driven by the third motor 30b via a third orthogonal joint portion 140b constituting three orthogonal degrees of freedom. . The 1st orthogonal joint part 140a, the 2nd orthogonal joint part 140c, and the 3rd orthogonal joint part 140b can be set as the structure similar to each orthogonal joint part of the support arm apparatus 1 concerning said embodiment, respectively. .

The guide pin 43 extending from the third link 113 is always directed in the direction of the axis of the first drive shaft and the third drive shaft regardless of the posture of the arm portion 110, and can advance and retreat in the linear bush 42. ing. A parallel link formed by the fifth link 115b, the ninth link 117c, the sixth link 115c, and the eighth link 117b, the fifth link 115b, the ninth link 117c, the eleventh link 115d, and the The parallel link formed by the twelve links 117d constitutes a rhombus structure having the third link 113 and its extension line as a diagonal line. These two rhombus structures can be expanded and contracted along the diagonal line.

Also in the support arm device 100 according to the first modification, by rotating the first motor 30a and the third motor 30b in the same direction, the arm unit 110 remains in a specific link configuration plane, Deform along the link construction plane. At this time, the first link 111a and the second link 111b are maintained parallel to the horizontal plane (parallel to the axis of the second drive shaft 131), and the extension line of the third link 113 is always the first link. The arm portion 110 rotates while being directed in the direction of the drive shaft and the third drive shaft. Therefore, the surgical instrument 5 supported by the support part 50 rotates back and forth around the RCM.

In addition, even when the first motor 30a and the third motor 30b are rotated in the opposite directions, the arm unit 110 remains in the specific link configuration plane and deforms along the link configuration plane. At this time, the first link 111a and the second link 111b are maintained parallel to the horizontal plane (parallel to the axis of the second drive shaft 131), and the extension line of the third link 113 is always the first link. The two rhombus structures whose diagonals are the third link 113 and its extension line are stretched and contracted along the diagonal line while being oriented in the direction of the drive shaft and the third drive shaft. Therefore, the surgical instrument 5 supported by the support unit 50 always moves forward and backward so as to pass through the RCM.

Moreover, the arm part 110 is inclined in the left-right direction by the rotation of the second motor 30c. At this time, since the inclination of the entire arm part 110 is changed, the plurality of links constituting the arm part 110 are inclined in the left-right direction while remaining in the common link configuration plane. Since the arm unit 110 rotates about the axis of the second drive shaft 131, the surgical instrument 5 rotates in the left-right direction about the RCM existing on the axis of the second drive shaft 131.

The configuration other than the points described so far can be configured similarly to the support arm device 1 according to the above-described embodiment. For example, the support arm device 100 according to the first modification can also be controlled by the same control device as the support arm device 1 according to the above embodiment.

Thus, the support arm device 100 according to the first modified example also has a relatively simple structure including a plurality of links and three motors connected to each other, and can reduce manufacturing costs. Moreover, since all the arm parts 110 comprised by several links exist in a link structure plane, the width | variety of the left-right direction of the support arm apparatus 100 concerning a 1st modification becomes small, and the occupied volume is made small. be able to.

The support arm device 100 according to the first modification is also configured such that the first motor 30a, the second motor 30c, and the third motor 30b do not move when the posture of the arm unit 110 is changed. Yes. Therefore, the weight of the movable part by each motor becomes relatively light, and the output of the motor can be reduced. Thereby, a motor can be reduced in size or power consumption can be reduced.

(1-5-2. Second Modification)
FIG. 25 shows a support arm device 1A according to a second modification. The support arm device 1A according to the second modified example includes a pair of

laser irradiation units

230R and 230L for easily recognizing the position of the RCM visually.
Is different.

25. The pair of

laser irradiation units

230R and 230L shown in FIG. The

laser irradiation units

230R and 230L can be switched between irradiation and stop of laser light by an on / off input operation by an operator, for example. The cover 201 is provided with two openings 204, and the laser light emitted from the laser irradiation units 230 </ b> R and 230 </ b> L is irradiated to the outside of the cover 201 through the opening 204. Each of the pair of

laser irradiation units

230R and 230L irradiates the RCM with laser light. The intersection of the laser beams irradiated from the pair of

laser irradiation units

230R and 230L coincides with the RCM.

Therefore, when the operator or the like determines the installation position of the support arm device 1A, the support arm device 1A is set so that the intersection of the laser beams coincides with, for example, an insertion port formed by incising the body surface of the patient. The installation position of the support arm device 1A can be easily determined. Thereby, the support arm apparatus 1A can be set to an appropriate position in a state where the distal end of the surgical instrument 5 such as an endoscope is held above the RCM before the start of surgery.

The installation positions of the

laser irradiation units

230R and 230L can be set as appropriate. For example, by irradiating the laser beam toward the RCM from a position higher than the height position of the RCM, the laser beam is not easily blocked by the patient himself or other equipment. Further, the

laser irradiation units

230R and 230L are one mode for indicating the position of the RCM, and means for easily recognizing the position of the RCM is not limited to the

laser irradiation units

230R and 230L.

Further, the

laser irradiation units

230R and 230L may be detachable from a predetermined position on the outer surface of the cover 201. In this case, the unitized pair of

laser irradiation units

230R and 230L may be placed at a predetermined position on the upper surface of the cover 201, for example. For example, when the operator or the like determines the installation position of the support arm device 1A, the

laser irradiation units

230R and 230L are attached to the cover 201 for positioning, and after determining the installation position, the

laser irradiation units

230R and 230L are determined. Can be removed and surgery can be performed.

(1-5-3. Third modification)
FIG. 26 is a schematic diagram showing a support arm device 1B according to a third modification. The support arm device 1B according to the third modification is different from the support arm device 1 according to the above-described embodiment in that the support arm device 1B includes

height adjusting units

205F and 205R for adjusting the height of the support arm device 1B. Yes.

The support arm device 1B includes

height adjusting portions

205F and 205R attached to the base portion 21. The

height adjustment units

205F and 205R include a front height adjustment unit 205F and a rear height adjustment unit 205R. The

height adjusters

205F and 205R are not particularly limited as long as the length (height) in the vertical direction can be adjusted. For example, the

height adjusting units

205F and 205R can be motor-driven expansion / contraction devices, hydraulic or atmospheric pressure-driven cylinder devices, or the like.

For example, when the operator determines the installation position of the support arm device 1B before the start of the operation, the height is set so that the insertion portion formed by incising the body surface of the patient matches the RCM. The

adjustment units

205F and 205R are driven. At this time, even if only a part of the

height adjusting units

205F and 205R is driven or the height is varied for each of the

height adjusting units

205F and 205R, the inclination of the entire support arm device 1B can be adjusted. Good.

As described above, since the support arm device 1B according to the third modification can be adjusted in height or inclination, the support arm device 1B is appropriately arranged in accordance with the situation of the patient or other equipment. The RCM can be matched with the insertion opening formed on the patient's body surface.

<1-6. Summary>
As described above, the support arm device according to the present embodiment changes the posture of the arm part, thereby moving the surgical instrument supported by the arm part in a single-degree-of-freedom linear motion in the axial direction and moving the axis back and forth, left and right. It is possible to realize a parallel mechanism with three degrees of freedom that can rotate in a tilted manner. Such a support arm device has a configuration in which the first motor, the second motor, and the third motor do not move when the posture of the arm portion is changed. Therefore, the weight of the part operated by each motor becomes relatively light, and the output of each motor can be reduced. Thereby, a motor can be reduced in size or power consumption can be reduced. Further, since each motor is fixed to the base portion and does not move, the electrical wiring can be easily routed.

Further, since the support arm device according to the present embodiment has a relatively simple structure including a plurality of links and three motors connected to each other, the manufacturing cost can be reduced. Moreover, since all the arm parts comprised by a some link exist in a link structure plane, the width | variety of the left-right direction of a support arm apparatus becomes small, and the occupied volume can be made small.

In addition, the support arm device according to the present embodiment is connected to the drive shafts of three motors using two orthogonal joint portions that constitute three degrees of freedom and one orthogonal joint portion that constitutes two degrees of freedom. Has been. Therefore, the posture of the arm portion can be changed with all three motors fixed to the base portion. In addition, since the arm portion is connected to the drive shaft via the orthogonal joint portion, the rotation of each link is not hindered when the posture of the arm portion is changed.

Further, the support arm device according to the present embodiment is a linear guide that guides a guide pin extending from a third link facing one side constituted by a support portion that supports a surgical instrument in the axial direction of the guide pin. It has a structure that includes a bush and moves the surgical instrument forward and backward in the axial direction. Therefore, the surgical instrument is always directed to the RCM. Since the guide structure using such guide pins and linear bushes can be relatively short, the weight of the arm portion can be reduced and the manufacturing cost can be reduced.

<< 2. Second embodiment >>
Next, a support arm device according to a second embodiment of the present disclosure will be described. The support arm device according to the present embodiment is configured using fewer links than the support arm device 1 according to the first embodiment, and can be configured as a smaller device. In the following, the parts different from the support arm device according to the first embodiment will be mainly described.

<2-1. Configuration of Support Arm Device>
FIG. 27 is a perspective view illustrating a configuration example of the support arm device 305 according to the present embodiment. The support arm device 305 includes an arm portion 310 including at least one parallel link. The arm unit 310 is operated by the first motor 330a, the second motor 330b, and the third motor 330c, thereby realizing a pivot motion centering on the RCM and a rectilinear motion along a straight line passing through the RCM. . The support arm device 305 may be provided with a cover or a base part.

A universal joint 340a as a first drive shaft is connected to the output shaft of the first motor 330a, and the first motor 330a rotates the universal joint 340a. In the universal joint 340a, the base 340aa is fixed coaxially to the output shaft of the first motor 330a, and the rotating part 340ab is rotatably connected to the base 340aa. A second drive shaft 345 is coaxially connected to the output shaft of the second motor 330b, and the second motor 330b rotates the second drive shaft 345. A universal joint 340b as a third drive shaft is connected to the output shaft of the third motor 330c, and the third motor 330c rotates the universal joint 340b. The universal joint 340b has a base 340ba fixed coaxially to the output shaft of the third motor 330c, and a rotating part 340bb connected to the base 340ba so as to be rotatable.

The axis of the base 340aa of the universal joint 340a and the axis of the base 340ba of the universal joint 340b are arranged in parallel at equal intervals. The axis of the base 340aa of the universal joint 340a and the axis of the base 340ba of the universal joint 340b may be arranged on planes parallel to each other. Pivot movement around the RCM is facilitated by the control of the motor 330a, the second motor 330b, and the third motor 330c. Further, if the axis of the base 340aa of the universal joint 340a and the axis of the base 340ba of the universal joint 340b are in parallel with each other at an equal interval, it is possible to prevent a reduction in motor torque transmission efficiency. Furthermore, if the axis of the base 340aa of the universal joint 340a and the axis of the base 340ba of the universal joint 340b are in an equidistant parallel state, the design is facilitated and the production efficiency is improved.

Also, the axis of the second drive shaft 345 is orthogonal to the axis of the base 340aa of the universal joint 340a and the axis of the base 340ba of the universal joint 340b. In the support arm device 305 according to the present embodiment, the axis of the base 340aa of the universal joint 340a, the axis of the base 340ba of the universal joint 340b, and the second on a plane parallel to the installation surface on which the support arm device 305 is installed. The axis of the drive shaft 345 is arranged. On the axis of the second drive shaft 345, an RCM serving as the center of the pivot movement of the surgical instrument 5 is further arranged.

The arm unit 310 includes at least one parallel link configured by a plurality of links. The arm portion 310 includes a plurality of joint portions 360a to 360i and a first link 311, a second link 313, a third link 315a, and a fourth link 315b that are rotatably connected by the joint portions 360a to 360i. , A fifth link 317a, a sixth link 317b, and a seventh link 317c. Further, the arm part 310 has a support part 350 for supporting the surgical instrument 5 at the distal end. In the support arm device 305 according to the present embodiment, the third link 315a, the fourth link 315b, the fifth link 317a, the sixth link 317b, and the seventh link 317c form a parallel link. The second link 313 is not connected to the sixth link 317b and the seventh link 317c.

Of these links, the sixth link 317b corresponds to the first drive link, the seventh link 317c corresponds to the second drive link, and the second link 313 corresponds to the third drive. Corresponds to a link.

These multiple links exist in a common link configuration plane regardless of the posture of the arm unit 310. That is, the parallel link formed by a plurality of links exists in a common link configuration plane regardless of the posture of the arm unit 310. Therefore, the support arm device 305 can reduce the width in the left-right direction. The link configuration plane does not change in inclination when the arm unit 310 operates in the front-rear direction and in the up-down direction, but can change in inclination when the arm unit 310 operates in the left-right direction. In the support arm device 305 according to the present embodiment, the link configuration plane has a thickness corresponding to five links.

In the support arm device 305 according to the present embodiment, a guide structure 370 is provided on the fifth link 317a. The guide structure 370 has a guide hole 371 having an axis along the longitudinal direction of the fifth link 317a. The axis of the guide hole 371 is located on a straight line passing through the RCM. The surgical instrument 5 is inserted into the guide hole 371 and is held so as to be linearly movable along the longitudinal direction of the fifth link 317a. Therefore, the surgical instrument 5 or the axis of the surgical instrument 5 always passes through the RCM regardless of the posture of the arm unit 310.

The sixth link (first drive link) 317b is connected to the first motor 330a via the universal joint 340a. By driving the first motor 330a, the base 340aa of the universal joint 340a rotates about the axis, and the sixth link 317b rotates about the axis of the base 340aa of the universal joint 340a regardless of the posture of the arm 310. Move. At this time, the fifth link 317a and the seventh link 317c rotate while maintaining a state parallel to the sixth link 317b. Thereby, the parallel links formed by the third link 315a, the fourth link 315b, the fifth link 317a, the sixth link 317b, and the seventh link 317c rotate in the front-rear direction. At this time, since the fifth link 317a is always directed to the RCM, the surgical instrument 5 supported by the guide structure 370 or the axis of the surgical instrument 5 always passes through the RCM.

In this way, by driving the first motor 330a and rotating the sixth link 317b, the surgical instrument 5 can be rotated in the front-rear direction around the RCM. In addition, when the surgical instrument 5 rotates only in the front-rear direction, the plurality of parallel links of the arm portion 310 are deformed along the link configuration plane while remaining in the specific link configuration plane.

The second link (third drive link) 313 is connected to the third motor 330c via the universal joint 340b. By driving the third motor 330c, the base 340ba of the universal joint 340b rotates about the axis, and the second link 313 rotates around the base 340ba of the universal joint 340b regardless of the posture of the arm 310. . As a result, the position of the support portion 350 connected to the second link 313 via the first link 311 is changed, and the surgical instrument 5 supported by the support portion 350 goes straight along a straight line passing through the RCM. Do exercise.

The seventh link (second drive link) 317c is rotatably connected to the second drive shaft 345 via the joint portion 360i. When the second motor 330 b is driven and the second drive shaft 345 is rotated, each link rotates in the left-right direction around the axis of the second drive shaft 345. Since the sixth link 317b is connected to the first motor 330a via the universal joint 340a and the second link 313 is connected to the third motor 330c via the universal joint 340b, each link interferes. It is possible to turn left and right without doing. At this time, since the guide hole 371 of the guide structure 370 and the surgical instrument 5 held in the guide hole 371 rotate relative to each other, the operation of each link is not hindered.

In this way, by driving the second motor 330b, the inclination of the link configuration plane changes in the left-right direction around the second drive shaft 345. Since the axis of the guide hole 371 of the guide structure 370 is always directed to the RCM, the surgical instrument 5 or the axis of the surgical instrument 5 always passes through the RCM regardless of the posture of the arm unit 310.

In the support arm device 1 according to the first embodiment, the third motor 30b is provided between the first motor 30a and the second motor 30c, and the movable range of the linear movement of the surgical instrument 5 is provided. In order to increase the length, it is necessary to lengthen the fourth link 15a and the seventh link 17a constituting the rhombus structure. For this reason, if it is going to reduce in size the support arm apparatus 1 concerning 1st Embodiment, the movable range of the vertical motion of the surgical instrument 5 will also be reduced. In contrast, in the support arm device 305 according to the second embodiment, the rhombus structure for moving the surgical instrument 5 up and down is omitted, and the third motor 330c provided at the position farthest from the RCM is used. The position of the surgical instrument 5 moves up and down. Thereby, even if the support arm device 305 is downsized, a relatively large movable range can be secured.

<2-2. Arm position>
Up to this point, the configuration of the support arm device 305 according to the present embodiment has been described. Next, various postures that the arm unit 310 of the support arm device 305 can take will be described. FIG. 28 to FIG. 32 show examples of postures of the arm unit 310 that performs the pivoting motion and the rectilinear motion. 28 to 32, virtual lines representing the posture of the arm unit 310 of FIG. 27 are shown to facilitate comparison with the posture (basic posture) of the arm unit 310 of FIG. In FIG. 27, the surgical instrument 5 is supported in a state of being tilted backward, and the distal end portion of the surgical instrument 5 has entered the RCM.

FIG. 28 shows the posture of the arm unit 310 when the third motor 330c is rotated clockwise as shown in the state of FIG. In this case, the second link 313 rotates about the axis of the base portion 340ba of the universal joint 340b in the clockwise direction in the figure, and the first link 311 and the support portion 350 connected to the first link 311 are provided. Is pushed upward. As a result, the surgical instrument 5 rises along a straight line passing through the RCM while maintaining the same inclination as the basic posture.

FIG. 29 shows the posture of the arm unit 310 when the first motor 330a is rotated counterclockwise from the state shown in FIG. In this case, the sixth link 317b rotates counterclockwise as illustrated around the axis of the base 340aa of the universal joint 340a. Accordingly, the arm portion 310 rotates forward while the third link 315a and the fourth link 315b are maintained parallel to the installation surface of the support arm device 305. As a result, the surgical instrument 5 is rotated forward about the RCM.

FIG. 30 shows the posture of the arm unit 310 when the first motor 330a is rotated clockwise as shown in FIG. 27 and the third motor 330c is rotated clockwise as shown in FIG. Yes. In this case, by driving the first motor 330a, the sixth link 317b rotates in the clockwise direction in the figure about the axis of the base 340aa of the universal joint 340a. Further, by driving the third motor 330c, the second link 313 rotates around the axis of the base 340ba of the universal joint 340b in the clockwise direction in the figure. Accordingly, the third link 315a and the fourth link 315b maintain the state parallel to the installation surface of the support arm device 305, the arm unit 310 rotates backward, and the first link 311 and the support portion 350 connected to the first link 311 are pushed upward. As a result, the surgical instrument 5 is raised while rotating backward about the RCM.

FIG. 31 shows the posture of the arm unit 310 when the first motor 330a is rotated clockwise as shown in FIG. 27 and the third motor 330c is rotated counterclockwise as shown in FIG. ing. In this case, by driving the first motor 330a, the sixth link 317b rotates in the clockwise direction in the figure about the axis of the base 340aa of the universal joint 340a. Further, by driving the third motor 330c, the second link 313 rotates counterclockwise as shown in the figure about the axis of the base 340ba of the universal joint 340b. Accordingly, the third link 315a and the fourth link 315b maintain the state parallel to the installation surface of the support arm device 305, the arm unit 310 rotates backward, and the first link 311 And the support part 350 connected with the 1st link 311 is pushed down below. As a result, the surgical instrument 5 is lowered while rotating backward about the RCM. At this time, the rotation part 340bb of the universal joint 340b connected to the third motor 330c rotates with respect to the base part 340ba, thereby avoiding interference between the links constituting the arm part 310.

FIG. 32 shows the posture of the arm portion 310 when the second motor 330b is rotated clockwise as shown in FIG. 27 and the third motor 330c is rotated counterclockwise as shown in FIG. ing. In this case, the seventh link 317c rotates around the axis of the second drive shaft 345 in the clockwise direction in the figure by driving the second motor 330b. Further, by driving the third motor 330c, the second link 313 rotates counterclockwise as shown in the figure about the axis of the base 340ba of the universal joint 340b. Along with this, the arm portion 310 rotates around the axis of the second drive shaft 345 and is connected to the first link 311 and the first link 311 so that the link constituting plane is inclined leftward. The support portion 350 is pushed downward. As a result, the surgical instrument 5 is lowered while rotating leftward about the RCM. At this time, the rotating part 340ab of the universal joint 340a connected to the first motor 330a rotates with respect to the base part 340aa, and the rotating part 340bb of the universal joint 340b connected to the third motor 330c By rotating with respect to the base portion 340ba, interference between the links constituting the arm portion 310 is avoided.

As exemplified above, the support arm device 305 according to the present embodiment drives the first motor 330a, the second motor 330b, and the third motor 330c, respectively, and controls the posture of the arm unit 310. As a result, the surgical instrument 5 can be pivoted about the RCM and linearly moved along a straight line passing through the RCM. Configurations other than those described above can be configured in the same manner as the support arm device 1 according to the first embodiment.

<2-3. Summary>
As described above, the support arm device 305 according to the present embodiment can provide the same effects as those of the support arm device according to the first embodiment. Further, in the support arm device 305 according to the present embodiment, the third motor 330c is arranged at a position farthest from the RCM, and the pivotal movement and the rectilinear movement of the surgical instrument 5 are enabled by a relatively simple link structure. ing. As a result, the support arm device 305 can be reduced in size while maintaining a large range of motion for linear movement.

In the support arm device 305 according to the present embodiment, the arm unit 310 includes a first motor 330a that rotates the arm unit 310 in the front-rear direction and a third motor 330c that moves the surgical instrument 5 in the vertical direction. On the other hand, it is connected via

universal joints

340a and 340b. Accordingly, when the posture of the arm unit 310 is changed, the rotation of each link is not hindered, and the number of parts is reduced as compared with the support arm device according to the first embodiment. Further downsizing can be realized.

<< 3. Third Embodiment >>
Next, a support arm device according to a third embodiment of the present disclosure will be described. In the support arm device according to the first embodiment and the second embodiment, the pivot movement and the straight movement are performed so that the jig such as a surgical instrument or the axis of the jig passes through the RCM. In the support arm device according to the present embodiment, the rotary motion and the straight motion are performed so that the jig or the axis of the jig intersects a predetermined axis. The following description will mainly focus on the differences from the support arm device 1 according to the first embodiment.

<3-1. Configuration of Support Arm Device>
FIG. 33 is a perspective view illustrating a configuration example of the support arm device 401 according to the present embodiment. The support arm device 401 is a device in which the second link 11b, the third link 13, and the guide structure 35 are omitted from the support arm device 1 according to the first embodiment shown in FIG. The arm portion 410 of the support arm device 401 includes a parallelogram structure formed by the first link 11a, the tenth link 19, the fourth link 15a, and the fifth link 15b, and a seventh link. The parallelogram structure formed by 17a, the eighth link 17b, and the tenth link 19, the fourth link 15a, the sixth link 15c, the seventh link 17a, and the ninth link 17c. And a rhombus structure.

In the support arm device 401, the first link 11 a is maintained in a state parallel to the installation surface of the support arm device 401 regardless of the posture of the arm unit 410. In addition, since the second link, the third link, and the guide structure are omitted, when the first link 11a moves in the front-rear direction, the support 450 is not changed in inclination, and the support is not changed. The part 450 moves in the front-rear direction. Therefore, the axis of the support portion 450 is always directed to the axis A extending in the front-rear direction, not a single point (RCM). The axis A can coincide with the rotation axis Ax_m2 of the second drive shaft 31c.

In the support arm device 401, the first link 11a and the support portion 450 that supports the jig are fixed so as to be held at a predetermined angle. In the example of the support arm device 401 shown in FIG. 33, the support portion 450 is fixed so as to form 90 ° with respect to the first link 11a. Therefore, the axis of the support portion 450 is always orthogonal to the axis A.

<3-2. Arm position>
Next, various postures that the arm portion 410 of the support arm device 401 can take will be described. 34 to 40 show examples of the posture of the arm portion 410 that performs the rotational motion of the support portion 450 around the predetermined axis A and the rectilinear motion of the support portion 450 along the straight line passing through the axis A. Yes. 34 to 40 show virtual lines representing the posture of the arm unit 410 in FIG. 33 in order to facilitate comparison with the posture (basic posture) of the arm unit 410 in FIG. In FIG. 33, the axis of the support portion 450 is in a state perpendicular to the axis A on the relatively rear side.

FIG. 34 shows the posture of the arm portion 410 when the second motor 30c is rotated rightward and the third motor 30b is rotated counterclockwise as shown in FIG. . In this case, by driving the third motor 30b, the sixth link 15c rotates counterclockwise around the third drive shaft 31b, and the fourth link 15a and the fifth link 15b are parallel to each other. Tilt forward while keeping state. Therefore, the first link 11a to which the support portion 450 is fixed is moved closer to the axis A while moving forward. Further, by driving the second motor 30c, the link constituting plane is rotated rightward about the second drive shaft 30c, and the axis of the support portion 450 is inclined rightward. As a result, the support portion 450 moves forward while tilting in the right direction, and the tip of the support portion 450 is brought closer to the axis A.

35 and 36 show the posture of the arm unit 410 when the first motor 30a and the third motor 30b are further gradually rotated counterclockwise as shown in the state of FIG. In this case, the support portion 450 moves forward little by little while maintaining the state where the axis of the support portion 450 is orthogonal to the axis A.

FIG. 37 shows the posture of the arm portion 410 when the first motor 30a is rotated counterclockwise from the state shown in FIG. In this case, the eighth link 17b rotates about the first drive shaft 31a counterclockwise as illustrated, and the arm portion 410 rotates forward. At this time, since the sixth link 15c connected to the third drive shaft 31b does not rotate, the fourth link 15a, the sixth link 15c, the seventh link 17a, and the ninth link 17c. The rhombus structure constituted by extends vertically. Thereby, the first link 11a moves away from the axis A while moving forward, and accordingly, the support portion 450 moves forward and the tip of the support portion 450 is moved away from the axis A.

FIG. 38 shows the posture of the arm portion 410 when the third motor 30b is rotated counterclockwise as shown in the state of FIG. In this case, the sixth link 15c rotates counterclockwise around the third drive shaft 31b, and the fourth link 15a, the sixth link 15c, the seventh link 17a, and the ninth link The rhombus structure composed of 17c extends horizontally and contracts in the vertical direction. At this time, the fourth link 15a and the fifth link 15b are tilted forward while maintaining a parallel state. As a result, the first link 11 a moves closer to the axis A while moving forward, and accordingly, the support portion 450 moves forward and the tip of the support portion 450 approaches the axis A.

FIG. 39 shows the posture of the arm portion 410 when the third motor 30b is rotated counterclockwise as shown in FIG. 36 and the second motor 30c is rotated leftward. . In this case, by driving the third motor 30b, the sixth link 15c rotates counterclockwise around the third drive shaft 31b, and the fourth link 15a, the sixth link 15c, the seventh link The rhombus structure constituted by the link 17a and the ninth link 17c extends in the horizontal direction and contracts in the vertical direction. At this time, the fourth link 15a and the fifth link 15b are tilted forward while maintaining a parallel state. Accordingly, the first link 11a is moved closer to the axis A while moving forward. Further, by driving the second motor 30c, the link constituting plane is rotated leftward about the second drive shaft 30c, and the axis of the support portion 450 is tilted leftward. Thereby, the tip of the support part 450 is brought close to the axis A while the support part 450 is inclined leftward.

FIG. 40 shows the posture of the arm portion 410 when the first motor 30a and the third motor 30b are rotated clockwise as shown in the state of FIG. In this case, the 8th link 17b rotates clockwise centering on the 1st drive shaft 31a by the drive of the 1st motor 30a, and the arm part 410 moves back. In addition, since the sixth link 15c rotates clockwise around the third drive shaft 31b by driving the third motor 30b, the fourth link 15a, the sixth link 15c, and the seventh link. The rhombus structure constituted by 17a and the ninth link 17c rotates backward while maintaining its shape. Thereby, the 1st link 11a moves back, and the support part 450 moves back in connection with this.

As illustrated above, the support arm device 401 according to the present embodiment drives the first motor 30a, the second motor 30c, and the third motor 30b, respectively, and controls the posture of the arm unit 410. As a result, the support portion 450 can be rotated about the axis A, and can be linearly moved so that the axis of the support 450 passes through the axis A. For example, as shown in FIGS. 33 to 40, the support arm device 401 according to the present embodiment approaches the outer peripheral surface of the substantially columnar object X around the axis A from various angles. Can be applied to operation.

<3-3. Summary>
As described above, the support arm device 401 according to the present embodiment changes the posture of the arm unit 410 to rotate the jig supported by the arm unit 410 about the predetermined axis A. The jig can be moved straight so that the axis of the jig passes through the axis A. Also by this support arm device 401, the same effect as the support arm device 1 according to the first embodiment can be obtained.

In the example of the support arm device 401 according to the present embodiment, the support portion 450 is fixed so as to form 90 ° with respect to the first link 11a. However, the support portion 450 and the first link 11a are connected to each other. It may be fixed to form a desired angle. By holding the support portion 450 and the first link 11a at an appropriate angle, it is possible to approach a predetermined object while maintaining the appropriate angle.

<< 4. Fourth embodiment >>
Next, a support arm device according to a fourth embodiment of the present disclosure will be described. In the support arm device according to the first embodiment and the second embodiment, the pivot movement and the straight movement are performed so that the jig such as a surgical instrument or the axis of the jig passes through the RCM. In the support arm device according to the present embodiment, only the pivot movement in which the axis of the jig passes through the RCM can be performed. In the following, a description will be given mainly of parts different from the support arm device 305 according to the second embodiment.

<4-1. Configuration of Support Arm Device>
FIG. 41 is a perspective view showing a configuration example of the support arm device 501 according to the present embodiment. The support arm device 501 omits the first link 311, the second link 313, the guide structure 370, and the third motor 330c in the support arm device 305 according to the second embodiment shown in FIG. Device. In the support arm device 501, for example, the fifth link 317a may be a support portion that supports a jig such as a surgical instrument.

In the support arm device 501, the fifth link 317a is moved to the RCM so that the axis of the fifth link 317a on which the jig is supported passes through the RCM by driving the first motor 330a and the second motor 330b. Can be turned around. On the other hand, since the first link, the second link, the guide structure, and the third motor are omitted, the straight movement of the fifth link 317a is not performed.

<4-2. Arm position>
Next, various postures that the arm portion 510 of the support arm device 501 can take will be described. 42 to 45 show examples of the posture of the arm unit 510 that performs the pivot movement of the fifth link 317a around the RCM. 42 to 45, virtual lines representing the posture of the arm unit 510 of FIG. 41 are shown in order to facilitate comparison with the posture (basic posture) of the arm unit 510 of FIG.

FIG. 42 shows the posture of the arm unit 510 when the first motor 330a is rotated counterclockwise as shown in FIG. 41 and the second motor 330b is rotated leftward from the state shown in FIG. In this case, while the third link 315a and the fourth link 315b are maintained in a parallel state, the arm portion 510 rotates forward while rotating leftward. Accordingly, the fifth link 317a is tilted forward while rotating leftward about the RCM.

FIG. 43 shows the posture of the arm unit 510 when the first motor 330a is rotated clockwise as shown in the state of FIG. In this case, the arm unit 510 rotates backward while the third link 315a and the fourth link 315b are maintained in a parallel state. As a result, the fifth link 317a is tilted backward about the RCM.

FIG. 44 shows the posture of the arm unit 510 when the second motor 330b is rotated rightward from the state of FIG. In this case, the arm unit 510 is tilted to the right. As a result, the fifth link 317a is tilted rightward about the RCM. At this time, since the sixth link 317b is connected to the output shaft of the first motor 330a via the universal joint 340a, the rotation operation of the sixth link 317b is not hindered.

FIG. 45 shows the posture of the arm 510 when the second motor 330b is rotated leftward from the state of FIG. In this case, the arm portion 510 is tilted leftward. As a result, the fifth link 317a is inclined leftward about the RCM. At this time, since the sixth link 317b is connected to the output shaft of the first motor 330a via the universal joint 340a, the rotation operation of the sixth link 317b is not hindered.

As exemplified above, the support arm device 501 according to the present embodiment drives the first motor 330a and the second motor 330b, respectively, and changes the posture of the arm unit 510, thereby allowing a jig such as a surgical tool to be used. The fifth link 317a on which is supported can be pivoted about the RCM. For example, as shown in FIGS. 42 to 45, the support arm device 501 according to the present embodiment can be applied to an operation of approaching the spherical surface Y centered on the RCM from various angles.

<4-3. Summary>
As described above, the support arm device 501 according to the present embodiment can pivot the jig supported by the arm unit 510 around the RCM by changing the posture of the arm unit 510. Also by this support arm device 501, the same effect as the support arm device 1 according to the first embodiment can be obtained.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field of the present disclosure can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that it belongs to the technical scope of the present disclosure.

For example, in the support arm device according to the first embodiment, the lengths of the first link 11a and the second link 11b may be adjustable. Specifically, the first link 11a and the second link 11b may be exchangeable by selecting an appropriate link from various links having different lengths. Or the 1st link 11a and the 2nd link 11b may be comprised so that expansion-contraction is possible. Thereby, the position of RCM can be changed according to a patient's physique and the like. Similarly, the lengths of the links constituting the support arm device according to each of the above embodiments may be adjustable. Thereby, according to a patient's physique etc., the position which makes a jig approach can be changed.

In the above embodiment, an example in which the support arm device is used as a medical support arm device has been described. However, the use of the support arm device is not limited to such an example. The support arm device may be installed in a production line or the like for industrial use. For example, two support arm devices may be used to find the camera and illumination angles that make it easier to observe scratches, contamination, etc. that are difficult to observe or find in a certain product. In this case, one support arm device supports the camera, and the other support arm device supports the illumination device. In addition, an operator or the like can find a combination of a camera and an illumination angle from which images of flaws and contamination are easily seen from images taken while changing the posture of each support arm device in various ways. Thereby, in a production line or the like, the posture of the arm portion of each support arm device can be fixed in accordance with the angle, and it can be appropriately determined whether there is any damage or contamination in the product.

Further, the effects described in the present specification are merely illustrative or illustrative, and are not limited. That is, the technology according to the present disclosure can exhibit other effects that are apparent to those skilled in the art from the description of the present specification in addition to or instead of the above effects.

The following configurations also belong to the technical scope of the present disclosure.
(1) a first drive unit fixed to the base unit and rotating the first drive shaft;
A second drive unit fixed to the base unit and rotating a second drive shaft;
An arm portion including at least one parallel link and supporting a predetermined jig,
A support arm device that changes the posture of the arm unit and rotates the predetermined jig by driving the first driving unit and the second driving unit.
(2) It further includes a third drive unit fixed to the base unit and rotating the third drive shaft.
The posture of the arm unit is changed by driving the first driving unit, the second driving unit, and the third driving unit, and remote movement is performed as the predetermined rotational movement with respect to the predetermined jig. The support arm device according to (1), wherein the support arm device performs a pivoting motion about a center and performs a rectilinear motion along a straight line passing through the remote motion center.
(3) The support arm device according to (1) or (2), wherein the arm unit includes a plurality of parallel links, and the plurality of parallel links exist in a link configuration plane.
(4) The arm portion serves as a movable portion by driving the first drive portion, the second drive portion, and the third drive portion, while the base portion is the first drive portion, The support arm device according to (2) or (3), wherein the support arm device is a non-moving portion by driving the second drive unit and the third drive unit.
(5) a first orthogonal joint portion that is interposed between the first drive link that constitutes the arm portion and the first drive shaft and that constitutes three orthogonal degrees of freedom;
A second orthogonal joint portion that is interposed between a second drive link that constitutes the arm portion and the second drive shaft and that constitutes two orthogonal degrees of freedom;
A third orthogonal joint portion interposed between a third drive link constituting the arm portion and the third drive shaft and constituting orthogonal three degrees of freedom;
The support arm device according to any one of (2) to (4), comprising:
(6) The support arm according to any one of (2) to (5), wherein an axis of the first drive shaft and an axis of the third drive shaft are present on a plane parallel to each other. apparatus.
(7) The support arm device according to (6), wherein the axis of the first drive shaft and the axis of the third drive shaft are arranged at equal intervals in parallel or on the same axis.
(8) The support arm device according to (6) or (7), wherein an axis of the second drive shaft is orthogonal to an axis of the first drive shaft and an axis of the third drive shaft.
(9) The support arm device according to any one of (2) to (8), wherein the remote motion center exists on an axis of the second drive shaft.
(10) By rotating the first drive shaft and the third drive shaft in the same direction, the jig rotates about the remote motion center as the rotation center. The support arm device according to any one of the above.
(11) The jig performs a rectilinear motion along a straight line passing through the remote motion center by rotating the first drive shaft and the third drive shaft in opposite directions. The support arm device according to any one of (10) to (10).
(12) The support arm device according to (11), wherein the arm portion includes a linear bush that guides the linear movement.
(13) The arm portion includes a parallel link including one side on a straight line passing through the remote motion center, and is disposed on the parallel link along a direction parallel to a straight line passing through the remote motion center. The support arm device according to (12), wherein a guide pin capable of moving forward and backward in the linear bush is provided.
(14) The support arm device according to (13), wherein the guide pin is disposed on a straight line orthogonal to the axis of the first drive shaft or the axis of the third drive shaft.
(15) In a parallel link including one side on a straight line passing through the remote motion center, two sides intersecting the one side move while maintaining a state parallel to the axis of the second drive shaft. The support arm device according to (13) or (14).
(16) The support arm device according to any one of (3) to (15), wherein the jig rotates in a direction intersecting the link configuration plane by rotating the second drive shaft. .
(17) The support arm device according to any one of (5) to (16), further including a stopper that restricts a rotation range of the first drive shaft in the axial rotation direction of the first drive shaft. .
(18) The support arm device according to any one of (5) to (17), further including a stopper that restricts a rotation range of the second drive shaft in the axial rotation direction of the second drive shaft. .
(19) The support arm device according to any one of (1) to (18), wherein the jig is a medical instrument.
(20) The support arm device according to (19), wherein the jig is an endoscope or an end effector that holds a biological tissue or a medical device of a patient.

1 Support arm device 5 Operating tool (jig)
10 Arm part 15c 6th link (3rd drive link)
17a Seventh link (second drive link)
17b Eighth link (first drive link)
21 base portion 31a first drive shaft 31b third drive shaft 31c second drive shaft 35 guide structure 40a first orthogonal joint portion 40b third orthogonal joint portion 40c second orthogonal joint portion 42 linear bush 43 guide Pin 60a-60n Joint

Claims

A first driving unit fixed to the base unit and rotating the first driving shaft;
A second drive unit fixed to the base unit and rotating a second drive shaft;
An arm portion including at least one parallel link and supporting a predetermined jig,
A support arm device that changes the posture of the arm unit and rotates the predetermined jig by driving the first driving unit and the second driving unit.
A third drive unit fixed to the base unit and rotating a third drive shaft;
The posture of the arm unit is changed by driving the first driving unit, the second driving unit, and the third driving unit, and remote movement is performed as the predetermined rotational movement with respect to the predetermined jig. The support arm device according to claim 1, wherein the support arm device performs a pivoting motion about a center and performs a rectilinear motion along a straight line passing through the remote motion center.
The support arm device according to claim 1, wherein the arm portion includes a plurality of parallel links, and the plurality of parallel links exist in a link configuration plane.
The arm part becomes a movable part by driving the first driving part, the second driving part, and the third driving part, while the base part is the first driving part, the second driving part, and the second driving part. The support arm device according to claim 2, wherein the support arm device is a non-moving portion driven by the driving unit and the third driving unit.
A first orthogonal joint portion interposed between the first drive link constituting the arm portion and the first drive shaft and constituting three orthogonal degrees of freedom;
A second orthogonal joint portion that is interposed between a second drive link that constitutes the arm portion and the second drive shaft and that constitutes two orthogonal degrees of freedom;
A third orthogonal joint portion interposed between a third drive link constituting the arm portion and the third drive shaft and constituting orthogonal three degrees of freedom;
The support arm device according to claim 2, comprising:
The support arm device according to claim 2, wherein an axis of the first drive shaft and an axis of the third drive shaft are present on a plane parallel to each other.
The support arm device according to claim 6, wherein the axis of the first drive shaft and the axis of the third drive shaft are arranged at equal intervals in parallel or on the same axis.
The support arm device according to claim 6, wherein an axis of the second drive shaft is orthogonal to an axis of the first drive shaft and an axis of the third drive shaft.
The support arm device according to claim 2, wherein the remote motion center exists on an axis of the second drive shaft.
The support arm device according to claim 2, wherein the jig rotates about the remote motion center by rotating the first drive shaft and the third drive shaft in the same direction.
The support according to claim 2, wherein the jig performs a straight movement along a straight line passing through the remote movement center by rotating the first drive shaft and the third drive shaft in opposite directions. Arm device.
The support arm device according to claim 11, wherein the arm portion includes a linear bush for guiding the linear movement.
The arm portion includes a parallel link including one side on a straight line passing through the remote motion center, and is disposed on the parallel link along a direction parallel to the straight line passing through the remote motion center. The support arm device according to claim 12, wherein a guide pin capable of moving forward and backward in the linear bush is provided.
The support arm device according to claim 13, wherein the guide pin is disposed on a straight line orthogonal to the axis of the first drive shaft or the axis of the third drive shaft.
14. In a parallel link including one side on a straight line passing through the remote motion center, two sides intersecting the one side move while maintaining a state parallel to the axis of the second drive shaft. A support arm device according to claim 1.
The support arm device according to claim 3, wherein the jig is rotated in a direction intersecting the link constituting plane by rotation of the second drive shaft.
The support arm device according to claim 5, further comprising a stopper for restricting a rotation range of the first drive shaft in the axial rotation direction of the first drive link.
The support arm device according to claim 5, further comprising a stopper that regulates a rotation range of the second drive shaft in the axial rotation direction of the second drive shaft.
The support arm device according to claim 1, wherein the jig is a medical instrument.
The support arm device according to claim 19, wherein the jig is an endoscope or an end effector that grips a patient's living tissue or a medical device.